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In this paper, we investigate distributed consensus problems for multiple miniature aerial vehicles (MAVs) with nonlinear dynamics and uncertainty. We develop distributed consensus protocol to solve regulation synchronization problem for leaderless MAVs with directed interaction topology. Adaptive control algorithms are used locally for each vehicle to deal with nonlinear dynamics and uncertainty...
A robust entry guidance law with finite time convergence is designed for drag-tracking in this paper. The bank angle is regarded as the control variable. First, a robust sliding mode control (SMC) method, which can guarantee the finite time convergence, is proposed for a class of nonlinear systems with uncertainties and disturbances. Then, after the drag dynamics is given, the finite time guidance...
In this paper, a novel finite-time second-order sliding mode control (FTSOSMC) for trajectory tracking of underwater vehicles subject to system uncertainties and unknown disturbances, is proposed. In this control design, an second order sliding mode control framework is designed with a complete compensation of disturbance to obtain high tracking accuracy and relax the necessity of the disturbance...
In this paper, a nonsingular terminal sliding mode (NTSM) control method based on time delay estimation (TDE) is proposed and investigated for the depth control of remotely operated vehicles (ROVs). The complex dynamics is approximately compensated by TDE leading to an attractive model-free nature, which is more suitable for practical applications than other model-based methods. Furthermore, the NTSM...
This paper focuses on the lateral control of intelligent vehicles. The aim is to minimize the lateral displacement of the autonomous vehicle with respect to a given reference trajectory. We present design and validation of two vehicle lateral controllers. The first controller based on higher-order sliding mode control (SMC) has been developed in [1]. The second controller is based on Immersion and...
Principal analysis of state dynamic model in stationary alignment was done to formulate the practical problems when the model applied to the rotation modulation mechanization. In engineering applications, initial position error which affects alignment precision is inevitable. To improve attitude precision in alignment under geographic latitude uncertainty, a new dynamic measurement model of Kalman...
A new fuzzy sliding mode controller with adaptive disturbance approximation is proposed for underwater robot. A new disturbance/uncertainties compensation is presented and the Lyapunov stability theory proves the stability and convergence of the closed-loop system. Large time-varying disturbance and uncertainties are introduced in the simulation and the results demonstrate the system performance.
In this paper, we deal with the vehicle lateral control problem in Automated Highway Systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the problem of lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the variable structure lateral control laws are designed. From...
In this paper, we present a dynamical systems representation for multi-agent rendezvous on the phase plane. We restrict our attention to two agents, each with scalar dynamics. The problem of rendezvous is cast as a stabilization problem, with a set of constraints on the trajectories of the agents, defined on the phase plane. We also describe a method to generate control Lyapunov functions that when...
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